Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received July 13, 2017; final manuscript received February 28, 2018; published online April 11, 2018. Assoc. Editor: Clement Gosselin.

This paper discusses the design of a new spherical parallel manipulator (SPM), which is used as a master device for medical tasks. This device is obtained by changing the kinematics of a classic SPM to eliminate the singularity from the device's useful workspace. The kinematic models of the new device are studied. The geometric parameters of the new device are optimized to eliminate the singularity. A prototype of the new master device is presented. Experiments are carried out using the device which allowed the control of a surgical robot.

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